(define (problem blocks-world)
    (:domain blocks)
    (:objects b1 b2 b3 b4 b5 b6 b7 b8 b9 b10)
    (:init 
        (on b6 b3)
        (on b2 b10)
        (on b4 b8)
        (on b3 b1)
        (on b7 b4)
        (on b8 b6)
        (on b10 b7)
        (on b9 b2)
        (on b1 b5)
        (ontable b5)
        (clear b9)
        (arm-empty)
    )
    (:goal (and
        (on b2 b1)
        (on b3 b10)
        (on b4 b7)
        (on b6 b8)
        (on b8 b2)
        (on b9 b4)
        (on b10 b9)
    ))
)